Diff: main.cpp

Revision:

0:015087d61ca1

Child:

1:e79ac0826624

diff -r 000000000000 -r 015087d61ca1 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Oct 03 00:02:31 2015 +0000
@@ -0,0 +1,147 @@
+#include "mbed.h"
+
+Serial pc(USBTX,USBRX);
+// functions
+void find_keys();
+Timer t;
+
+// init board
+PwmOut dc_motor(p26);
+PwmOut servo1(p25);
+PwmOut servo2(p24);
+DigitalOut in1(p14);    // elevator direction
+DigitalOut in2(p13);    // elevator direction
+AnalogIn IRSensor(p16);      // read IR sensor
+//AnalogOut test(p18);
+
+// keyboard read
+DigitalIn col1(p20);
+DigitalIn col2(p19);
+DigitalIn col3(p18);
+DigitalOut row1(p30);
+DigitalOut row2(p27);
+
+DigitalOut ind1(LED1);
+DigitalOut ind2(LED2);
+DigitalOut ind3(LED3);
+DigitalOut ind4(LED4);
+
+
+// init vars
+float ADC_Voltage;
+float period = 0.02;    // sec
+float dty_dc = 0.75;    // PCT [0-100]
+float dty_servo_open = 0.1125;  // PCT [3.75-11.25]
+float dty_servo_close = 0.0375; // PCT [3.75-11.25]
+int cur_floor = 1;
+int desired_floor = 1;
+int tperiod;
+
+int main() {
+    
+    // set period (constant)
+    dc_motor.period(period);
+   // servo1.period(period);
+   // servo2.period(period);
+    
+    // start with closed doors
+   // servo1.write(dty_servo_close);
+    //servo2.write(dty_servo_close);
+
+    // run elevator program
+    while(1) {
+        
+        
+        // check for key press
+        find_keys();
+        
+        // check if need to move
+        if (cur_floor != desired_floor) {
+            
+            // determine direction
+            if (cur_floor > desired_floor) {    // move down
+                in1 = 0;
+                in2 = 1;
+            }
+            else {  // move up
+                in1 = 1;
+                in2 = 0;
+            }
+            
+            // start car
+            dc_motor.write(dty_dc);
+            
+            // check IR sensors
+            
+            while (cur_floor != desired_floor) {
+                // check IR emitter here!
+                
+                while(!ADC_Voltage)
+                    ADC_Voltage = IRSensor.read();
+            
+                t.start();
+            
+                while(ADC_Voltage)
+                    ADC_Voltage = IRSensor.read();
+           
+                t.stop();
+        
+                tperiod = 2 * t.read_us();
+        
+                t.reset();
+        
+            if(tperiod > 9900 && tperiod < 10100)
+                cur_floor = 1;
+            else if(tperiod > 3900 && tperiod < 4100)
+                cur_floor = 2;
+            else if(tperiod > 1900 && tperiod < 2100)
+                cur_floor = 3;
+            else if(tperiod > 1300 && tperiod < 1500)
+                cur_floor = 4;
+            else if(tperiod > 900 && tperiod < 1100)
+                cur_floor = 5;
+                
+            //pc.printf("%d", cur_floor);
+            //wait_ms(1000);
+            }
+        }
+            
+            // stop car 
+            dc_motor.write(0);
+                      
+      //  }
+        
+        // open door
+        
+      //  servo1.write(dty_servo_open);
+       // servo2.write(dty_servo_open);
+        
+         
+    } 
+    
+     
+}
+
+void find_keys() {
+    
+    // check row 1
+    row1 = 0;
+    row2 = 1;
+    if (!col1) {
+        desired_floor = 1;    
+    }
+    if (!col2) {
+        desired_floor = 2;    
+    }
+    if (!col3) {
+        desired_floor = 3;    
+    }
+    
+    // check row 2
+    row1 = 1;
+    row2 = 0;
+    if (!col1) {
+        desired_floor = 4;
+    }
+    
+}